BlockIntegralTrap.hpp

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/**
 * @file blocks.h
 *
 * Controller library code
 */

#pragma once

#include <px4_platform_common/defines.h>
#include <assert.h>
#include <time.h>
#include <stdlib.h>
#include <math.h>
#include <mathlib/math/test/test.hpp>
#include <mathlib/math/filter/LowPassFilter2p.hpp>

#include "block/Block.hpp"
#include "block/BlockParam.hpp"

#include "matrix/math.hpp"

namespace control
{

/**
 * A trapezoidal integrator.
 * http://en.wikipedia.org/wiki/Trapezoidal_rule
 * A limiter is built into the class to bound the
 * integral's internal state. This is important
 * for windup protection.
 * @see Limit
 */
class __EXPORT BlockIntegralTrap : public SuperBlock
{
public:
// methods
    BlockIntegralTrap(SuperBlock *parent, const char *name) :
        SuperBlock(parent, name),
        _u(0),
        _y(0),
        _limit(this, "") {}
    virtual ~BlockIntegralTrap() = default;
    float update(float input);
// accessors
    float getU() {return _u;}
    float getY() {return _y;}
    float getMax() {return _limit.getMax();}
    void setU(float u) {_u = u;}
    void setY(float y) {_y = y;}
protected:
// attributes
    float _u; /**< previous input */
    float _y; /**< previous output */
    BlockLimitSym _limit; /**< limiter */
};

} // namespace control